CN106970404A - A kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network - Google Patents

A kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network Download PDF

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CN106970404A
CN106970404A CN201710210576.4A CN201710210576A CN106970404A CN 106970404 A CN106970404 A CN 106970404A CN 201710210576 A CN201710210576 A CN 201710210576A CN 106970404 A CN106970404 A CN 106970404A
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troposphere
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CN106970404B (en
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高成发
尚睿
潘树国
汪登辉
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

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Abstract

The invention discloses a kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network, network RTK data processing centres build Delaunay triangulation network using CORS base stations accurate coordinates, user's position optimum triangular unit and suboptimum triangular unit are chosen after user's access data processing centre, expand atmosphere errors interpolation baseline amount, establish MLIM ionospheres interpolation model and RELIM troposphere interpolation models, propose a kind of rover station air interpolation integrity monitoring method in net, MLIM ionospheres interpolation model interpolation precision is 3 times of conventional model, RELIM troposphere interpolation model interpolation precision is 6~30 times of conventional model, and both models still are able to keep very high interpolation precision in base station elevation difference major region.Region CORS ionospheric convections layer Complete relation can reach Centimeter Level interpolation precision, can be used for network RTK user and position integrity monitoring in real time.The method provided using the present invention, can make full use of the CORS base stations around user, and effective lifting region atmosphere delay interpolation precision ensures the positioning of user's quick high accuracy.

Description

A kind of many redundant network RTK atmosphere errors interpolations based on Delaunay triangulation network Method
Technical field
The present invention relates to global navigation satellite system GNSS (Global Navigation System) field of satellite location, Network RTK (Real-Time Kinematic) atmosphere errors interpolations more particularly to based on ground strengthening system are supervised with completeness Survey, be the important component of GNSS real-time high-precision RTK Study of location.
Background technology
The constantly improve of Global Navigation System (GNSS) and satellite navigation are greatly enlarged with merging for Internet technology The depth and range of high-precision satellite positioning tech application.With virtual reference station technology VRS (virtual reference Station the positioning precision of Centimeter Level) can be provided for the technology of network RTK of representative, the wide of satellite navigation system has been effectively pushed General application, requirement of the every profession and trade to positioning precision and confidence level is also harsher.One of VRS core technology is to utilize interpolation mould Type fits the atmosphere errors at phantom station, therefore, building, optimal reference station network is extremely crucial, and existing VRS technologies are general Using Delaunay triangles solving unit carry out space error modeling, this solving unit not only can guarantee that optimal network struction but also It can guarantee that each unit is independently resolved, yet with the limitation of this body structure of triangular unit, it is impossible to make full use of redundancy base around Stand information, limit selectable interpolation model.
Tropospheric error is not only influenceed by horizontal direction, and is influenceed by elevation direction, when rover station is in level side To strong constraint with the region that reference station is constituted when, in elevation direction but possibly remote from model area interpolation face, therefore right The influence of Elevation factor must be used in rover station tropospheric delay correction number.It is limited to triangle solving unit and only has two interpolations Baseline, when elevation difference is big, troposphere interpolation precision is low, and interpolation results effectively can not be checked.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of based on Delaunay triangles Many redundant network RTK atmosphere errors interpolating methods of net, can solve the problem that current technology of network RTK can not make full use of user periphery Redundant site, in elevation difference major region, troposphere interpolation precision is low and can not carry out the problem of completeness is checked.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network, network RTK data processings Center is built using CORS base stations plane coordinates and selected after Delaunay triangulation network, user access network RTK data processing centres Family position optimum triangular shape and suboptimum triangle are taken, expands atmosphere errors interpolation baseline amount, sets up new ionosphere With troposphere interpolation model；Meanwhile, using distance weighted model, comprehensive each unit atmosphere delay value generates customer location in real time VRS integrity monitoring information, monitors user's positioning scenarios.
Specifically include following steps：
Step 1, network RTK data processing centres utilize CORS base station plane coordinates, build basis Delaunay triangles Net；
Step 2, user is linked into after network RTK data processing centres, and the user in the GGA information uploaded according to user is general Slightly coordinate chooses interpolation triangle and interpolation baseline, specifically includes following specific steps：
Step 21：Choose optimum triangular shape and main website：(1) when user is in triangulation network coverage, user is chosen Place triangle is used as main website as optimum triangular shape, a base station nearest apart from user.(2) when user is covered in three-level net When outside lid scope, choose and be used as optimum triangular shape, optimal three with the triangle corresponding to the nearest triangle core of user distance An angular middle station nearest apart from user is used as main website.
Step 22：Determine suboptimum triangle and redundancy interpolation baseline：(1) when main website is located in net, there are two triangles Share interpolation baseline with optimum triangular shape, therefore have two suboptimum triangles, according to two suboptimum triangles can obtain two it is superfluous Remaining interpolation baseline.(2) when main website is located on triangulation network border and has a triangle to share interpolation baseline with optimum triangular shape, One redundancy baseline can be can obtain according to this suboptimum triangle using this triangle as suboptimum triangle.(3) when main website is located at three When angle selvage circle and interpolation baseline shared with optimum triangular shape without triangle, no suboptimum triangle, therefore irredundant baseline.
Step 3, user is determined after interpolation baseline by step 2, and many redundancy ionosphere interpolation model (Multi- are set up respectively Redundant Linear Interpolation Model, MLIM) and amendment elevation to flow interpolation model (Revise Elevation Linear Interpolation Model,RELIM)；
Step 4, while user ionosphere and troposphere interpolation, led for a pair using redundancy baseline and main interpolation baseline in Insert baseline two and carry out institute on ionosphere and the calculating of troposphere interpolation, relatively more main interpolation baseline two respectively using MLIM and RELIM methods There are the estimate of satellite and the difference of interpolated value, calculate the weighting of all satellites of each epoch, be designated as ARMS.Then, use Redundancy baseline and the main interpolation baseline one of two pairs of main interpolation baseline are carried out in ionosphere and troposphere respectively using MLIM and RELIM methods Baseline is inserted, the estimate and the difference of interpolated value of all satellites relatively on main interpolation baseline one, calculating each epoch all defends The weighting of star, is designated as BRMS.It is distance weighted using the progress of LIM methods according to ARMS and BRMS, calculate ionosphere at user complete Property index (Real-Time Ionospheric Residual Integrity Monitoring, RTIRIM) and troposphere are complete Standby property index (Real-Time tropospheric Residual Integrity Monitoring, RTTRIM).
The method that ionosphere interpolation model MLIM and troposphere interpolation model RELIM are set up in the step 3：
Step 31, double difference ionosphere can be determined by following formula on network RTK baselines:；
Determine after double difference ionosphere delay, set up ionosphere interpolation model MLIM：
A=[a1,a2]=(B1 TB1)-1B1 TL (3)
L=[Δ I1,n ΔI2,n … ΔIn-1,n]T (5)
For double difference ionosphere, f on baseline1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency, λ1It is carrier wave φ1Wavelength, λ2It is carrier wave φ2Wavelength,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation,Represent φ1Upper double difference fuzziness,Represent φ2Upper double difference fuzziness, 1 ..., n represents reference station quantity, 1,2 ..., N-1 represents auxiliary reference station, and n represents main reference station, and u represents rover station, a1、a2For linear interpolation coefficient, Δ x, Δ y represent auxiliary The plane coordinates helped between reference station and main reference station is poor, and Δ I represents baseline upper ionized layer length of delay；
Step 32, double difference troposphere can be determined by following formula on network RTK baselines：
Determine on every interpolation baseline after double difference troposphere, to set up troposphere interpolation model RELIM：
A=[a1,a2,a3]=(B2 TB2)-1B2 TL (8)
L=[Δ T1,n ΔT2,n … ΔTn-1,n]T (10)
In formula：For double difference tropospheric delay value, c represents the light velocity, f1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation,Represent φ1On Double difference fuzziness,Represent φ2Upper double difference fuzziness, ρ is the geometric distance between satellite and receiver, and 1 ..., n is represented Reference station quantity, 1,2 ..., n-1 represents auxiliary reference station, and n represents main reference station, and u represents rover station, a1、a2、a3In linear Coefficient is inserted, Δ x, Δ y, Δ h represent that plane and elevation coordinate between auxiliary reference station and main reference station are poor；Δ T represents baseline Higher troposphere length of delay.
In step 4, ionosphere and troposphere integrity monitoring Index Formula are as follows at user：
RIM=a1Δxu,n+a2Δyu,n (11)
A=[a1,a2]=(B1 TB1)-1B1 TL (12)
L=[ARMS BRMS]T (14)
Every satellite to determine power method as follows：
P (z)=Cos2(z) (15)
In formula, RIM represents RTIRIM and RTTRIM, a1、a2Liang Ge extension stations, n tables are represented respectively for linear interpolation coefficient, 1,2 Show main reference station, u represents rover station, and Δ x, Δ y represent that the plane coordinates between auxiliary reference station and main reference station is poor, P (Z) table Show the weights of every satellite, Z is elevation angle of the satellite on reference station.
The present invention compared with prior art, has the advantages that：
A kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network proposed by the present invention, lead to Selection suboptimum triangle is crossed, has expanded number of base stations during network RTK software air interpolations, has added redundancy baseline, solve Networking RTK softwares can not utilize the problem of redundancy baseline.Based on main interpolation baseline and redundancy interpolation baseline, to network RTK air Error carries out classification model construction, and the MLIM model interpolation precision of proposition is 3 times of conventional model, and RELIM model interpolation precision is to pass 6~30 times of system model, two kinds of models are high compared to conventional model precision and change is steady.According in main interpolation baseline and redundancy Insert rover station air interpolation Complete relation in the net that baseline is proposed and determine that method can reach the interpolation precision of Centimeter Level, can have Imitate the positioning of Logistics networks RTK rover.Has significance for the further development of network RTK softwares.
Brief description of the drawings
Fig. 1 is a kind of many redundant network RTK atmosphere errors interpolation sides based on Delaunay triangulation network that the present invention is provided Method flow chart.
Fig. 2 is general networkses RTK softwares network forming and atmosphere errors interpolating method flow chart.
Fig. 3 is that conventional triangle resolves cell schematics outside net Intranet.
Fig. 4 is that many redundancy triangles resolve cell schematics outside net Intranet.
Fig. 5 is integrity monitoring interpolation schematic diagram.
Fig. 6 is experiment CORS reference station distribution maps in the U.S. used.
Fig. 7 is experiment CORS reference station elevation maps in the U.S. used.
Fig. 8 is experiment G19 elevation of satellite variation diagrams used
Fig. 9 is net internal ionization layer, troposphere interpolated error figure.
Figure 10 is net outer ionosphere, troposphere interpolated error figure.
Figure 11 is ionosphere, troposphere integrity monitoring figure.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is furture elucidated, it should be understood that these examples are merely to illustrate this Invention rather than limitation the scope of the present invention, after the present invention has been read, those skilled in the art are various to the present invention's The modification of the equivalent form of value falls within the application appended claims limited range.
A kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network, first network RTK data Processing center utilizes CORS (Continuous Operational Reference System：Continuous operation frame of reference) base Quasi- station accurate coordinates build Delaunay triangulation network, after user is linked into data processing centre, choose customer location optimal three Angular and suboptimum triangle, expands atmosphere errors interpolation baseline amount, sets up new ionosphere and troposphere interpolation model, improves Atmosphere errors interpolation precision；Meanwhile, using distance weighted model, comprehensive each unit atmosphere delay value generates customer location in real time VRS integrity monitoring information, monitors user's positioning scenarios.Comprise the following specific steps that：
Step 1, network RTK data processing centres utilize CORS base station plane coordinates, build basis Delaunay triangles Net；
Step 2, user is linked into after network RTK data processing centres, and the user in the GGA information uploaded according to user is general Slightly coordinate chooses triangular unit and determines interpolation baseline, specifically includes following specific steps：
Step 21：Choose optimum triangular shape and main website：(1) when user is in triangulation network coverage, user is chosen Place triangle is used as main website as optimum triangular shape, a base station nearest apart from user.(2) when user is covered in three-level net When outside lid scope, choose and be used as optimum triangular shape, optimal three with the triangle corresponding to the nearest triangle core of user distance An angular middle station nearest apart from user is used as main website.
Step 22：Determine suboptimum triangle and redundancy interpolation baseline：(1) when main website is located in net, there are two triangles Share interpolation baseline with optimum triangular shape, therefore have two suboptimum triangles, according to two suboptimum triangles can obtain two it is superfluous Remaining interpolation baseline.(2) when main website is located on triangulation network border and has a triangle to share interpolation baseline with optimum triangular shape, One redundancy baseline can be can obtain according to this suboptimum triangle using this triangle as suboptimum triangle.(3) when main website is located at three When angle selvage circle and interpolation baseline shared with optimum triangular shape without triangle, no suboptimum triangle, therefore irredundant baseline.
Step 3, user is determined after interpolation baseline by step 2, and many redundancy ionosphere interpolation model (Multi- are set up respectively Redundant Linear Interpolation Model, MLIM) and amendment elevation to flow interpolation model (Revise Elevation Linear Interpolation Model,RELIM)；
Step 4, while user ionosphere and troposphere interpolation, led for a pair using redundancy baseline and main interpolation baseline in Insert baseline two and carry out institute on ionosphere and the calculating of troposphere interpolation, relatively more main interpolation baseline two respectively using MLIM and RELIM methods There are the estimate of satellite and the difference of interpolated value, calculate the weighting of all satellites of each epoch, be designated as ARMS.Then, use Redundancy baseline and the main interpolation baseline one of two pairs of main interpolation baseline are carried out in ionosphere and troposphere respectively using MLIM and RELIM methods Baseline is inserted, the estimate and the difference of interpolated value of all satellites relatively on main interpolation baseline one, calculating each epoch all defends The weighting of star, is designated as BRMS.It is distance weighted using the progress of LIM methods according to ARMS and BRMS, calculate ionosphere at user complete Property index (Real-Time Ionospheric Residual Integrity Monitoring, RTIRIM) and troposphere are complete Standby property index (Real-Time tropospheric Residual Integrity Monitoring, RTTRIM).
The method that ionosphere interpolation model MLIM and troposphere interpolation model RELIM are set up in the step 3：
Step 31, double difference ionosphere can be determined by following formula on network RTK baselines:；
Determine after double difference ionosphere delay, set up ionosphere interpolation model MLIM：
A=[a1,a2]=(B1 TB1)-1B1 TL (3)
L=[Δ I1,n ΔI2,n … ΔIn-1,n]T (5)
For double difference ionosphere, f on baseline1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency, λ1It is carrier wave φ1Wavelength, λ2It is carrier wave φ2Wavelength,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation,Represent φ1Upper double difference fuzziness,Represent φ2Upper double difference fuzziness, 1 ..., n represents reference station quantity, 1,2 ..., N-1 represents auxiliary reference station, and n represents main reference station, and u represents rover station, a1、a2For linear interpolation coefficient, Δ x, Δ y represent auxiliary The plane coordinates helped between reference station and main reference station is poor, and Δ I represents baseline upper ionized layer length of delay；
Step 32, double difference troposphere can be determined by following formula on network RTK baselines：
Determine on every interpolation baseline after double difference troposphere, to set up troposphere interpolation model RELIM：
A=[a1,a2,a3]=(B2 TB2)-1B2 TL (8)
L=[Δ T1,n ΔT2,n … ΔTn-1,n]T (10)
In formula：For double difference tropospheric delay value, c represents the light velocity, f1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation,Represent φ1On Double difference fuzziness,Represent φ2Upper double difference fuzziness, ρ is the geometric distance between satellite and receiver, and 1 ..., n is represented Reference station quantity, 1,2 ..., n-1 represents auxiliary reference station, and n represents main reference station, and u represents rover station, a1、a2、a3In linear Coefficient is inserted, Δ x, Δ y, Δ h represent that plane and elevation coordinate between auxiliary reference station and main reference station are poor；Δ T represents baseline Higher troposphere length of delay.
In step 4, ionosphere and troposphere integrity monitoring Index Formula are as follows at user：
RIM=a1Δxu,n+a2Δyu,n (11)
A=[a1,a2]=(B1 TB1)-1B1 TL (12)
L=[ARMS BRMS]T (14)
Every satellite to determine power method as follows：
P (z)=Cos2(z) (15)
In formula, RIM represents RTIRIM and RTTRIM, a1、a2Liang Ge extension stations, n tables are represented respectively for linear interpolation coefficient, 1,2 Show main reference station, u represents rover station, and Δ x, Δ y represent that the plane coordinates between auxiliary reference station and main reference station is poor, P (Z) table Show the weights of every satellite, Z is elevation angle of the satellite on reference station.
Embodiment：Reference network figure as shown in Figure 6, using U.S.'s CORS nets 2013 year P343 of 08 day 08 month, P165, P322, P332, P345, P349 totally 6 station, sample rates for 15s GPS observation data, netted in and net outer ionosphere, convection current Layer interpolation precision analysis and the analysis of air completeness.Elevation of satellite is chosen in process of the test No. G19 of lifting process twice Satellite is analyzed.Net Intranet outer ionosphere and troposphere interpolation comparative analysis figure are provided using Fig. 9-10.
Experiment is using base station P343 as main website in net, using base station P332 as monitoring station.Conventional interpolation experiment by base station P322, P345 regard base station P165, P322, P345, P349 as interpolation base station as interpolation station, the experiment of redundancy triangle interpolation.Fig. 9 (a) tables Show net internal ionization layer Correction of Errors number variation diagram, wherein LIM (linear interpolation model), LSM (low order surface model) are conventional interior Model is inserted, and LSM is only used in redundancy triangle solving unit.MLIM methods be set forth herein the model based on LIM.Fig. 9 (b) Represent tropospheric error correction variation diagram in net, wherein LIM, WLCM is the interpolation model in conventional triangular unit, MHM with RELIM is redundancy triangular unit interpolation model.
The outer experiment of net is using base station P343 as main website, using base station P349 as monitoring station.Conventional interpolation experiment by base station P322, P345 regard base station P165, P322, P345 as interpolation base station as interpolation station, the experiment of redundancy triangle interpolation.Figure 10 (a) represents net Outer ionosphere interpolated error variation diagram, Figure 10 (b) represents the outer troposphere interpolated error variation diagram of net.Table 1,2 represents ionization respectively Layer and troposphere interpolation RMS value.
According to Fig. 8-10 as can be seen that for troposphere, conventional model due to not considering interpolation base station between elevation Difference, interpolation precision can change with the change of elevation angle, set forth herein RELIM model troposphere interpolations precision is high and change Steadily.For ionosphere, set forth herein MLIM model accuracies are better than conventional model and change is steady.
Error statistics (m) in the ionospheric model of table 1.
Error statistics (m) in the Tropospheric Models of table 2.
It can be seen from table 1,2 net in, for ionosphere, set forth herein the same LIM of MLIM model interpolation precision Model is 3 times of LSM models quite.For troposphere, set forth herein RELIM model interpolations precision with LSM model phases When being 6 times of LIM models and HLCM models.Offline, for ionosphere, the precision of MLIM models is LSM and LIM moulds 3 times of type, for troposphere, the precision of RELIM models is 30 times of LIM models quite with HLCM precision.
Air interpolation Complete relation determines that base station P332 is set to monitoring station by experiment.Baseline P343-P332 is resolved to obtain Double difference ionospheric delay values and tropospheric delay value to P332 websites, and as the true value of integrity monitoring.With base Line P343-P165, P343-P322, P343-P349 interpolation baseline P343-P345, calculates ARMS；With baseline P343-P165, P343-P345, P343-P349 interpolation baseline P343-P322, calculating BRMS, (ionosphere and troposphere separate computations), according to ARMS and BRMS interpolations obtain the double difference ionosphere and troposphere integrity monitoring value at P332 websites.True value and completeness are supervised Measured value is analyzed, and Figure 11 (a) represents ionosphere Complete relation comparison diagram, and Figure 11 (b) represents troposphere completeness and referred to Mark comparison diagram.Table 3 represents error in ionosphere and troposphere Complete relation interpolation.
Error statistics (m) in the integrity monitoring of table 3.
As seen from Figure 11, ionosphere and troposphere Complete relation can be very good the actual double difference ionization of fitting baseline Layer and tropospheric delay value.Because satellite lifting is frequent, epoch 4000~5000 occurs in that ionosphere and tropospheric delay value Fluctuate by a relatively large margin.Due to the short-term spatial and temporal scales unstability in ionosphere, ionosphere interpolation results are slightly worse than troposphere.By table 3 understand that this integrity monitoring index can reach Centimeter Level interpolation results.
The experiment more than is as can be seen that use many redundant networks proposed by the present invention based on Delaunay triangulation network RTK atmosphere errors interpolating methods, network RTK center processings software can quickly realize automatic network forming, by choosing user place Position optimum triangular shape and suboptimum triangle, expand atmosphere errors interpolation baseline amount, establish MLIM ionospheres interpolation model With RELIM troposphere interpolation models, it is proposed that rover station air interpolation integrity monitoring method in one kind net.Experimental result table Bright, MLIM ionospheres interpolation model interpolation precision is 3 times of conventional model, and RELIM troposphere interpolation model interpolation precision is to pass 6~30 times of system model, and both models still are able to the very high interpolation precision of holding in base station elevation difference major region.Region CORS ionospheric convections layer Complete relation can reach Centimeter Level interpolation precision, can be used for network RTK user position in real time it is complete Property monitoring.The method provided using the present invention, can make full use of the CORS base stations around user, effective lifting region atmosphere delay Interpolation precision, ensures the positioning of user's quick high accuracy.Described above is only the preferred embodiment of the present invention, it should be pointed out that：It is right For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made And retouching, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (4)

1. a kind of many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network, it is characterised in that：Network RTK data processing centres are built at Delaunay triangulation network, user access network RTK data using CORS base stations plane coordinates User's position optimum triangular unit and suboptimum triangular unit are chosen behind reason center, expands atmosphere errors interpolation baseline amount, Set up new ionosphere and troposphere interpolation model；Meanwhile, using distance weighted model, comprehensive each unit atmosphere delay value is real Shi Shengcheng customer location VRS integrity monitoring information, monitors user's positioning scenarios.
2. many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network according to claim 1, it is special Levy and be：Comprise the following steps：
Step 1, network RTK data processing centres utilize CORS base station plane coordinates, build basic Delaunay triangulation network；
Step 2, user is linked into after network RTK data processing centres, and user's outline in the GGA information uploaded according to user is sat Mark chooses interpolation triangle, determines interpolation baseline, specifically includes following specific steps：
Step 21：Choose main reference station：(1) when user is in triangulation network coverage, triangle is made where choosing user For optimum triangular shape, a base station nearest apart from user is used as main website；(2) when user is in outside three-level net coverage, Choose with the triangle corresponding to the nearest triangle core of user distance as optimum triangular shape, distance is used in optimum triangular shape A nearest station of family is used as main website；
Step 22：Determine suboptimum triangle：(1) when main website is in net, there are two triangles shared interior with optimum triangular shape Baseline is inserted, therefore there are two suboptimum triangles, two redundancy interpolation baselines can be obtained according to two suboptimum triangles；(2) master is worked as Erect-position, can be using this triangle as secondary on triangulation network border and when having a triangle and optimum triangular shape to share interpolation baseline Excellent triangle, a redundancy baseline is can obtain according to this suboptimum triangle；(3) when main website is located at triangulation network border and no triangle When shape shares interpolation baseline with optimum triangular shape, no suboptimum triangle, therefore irredundant baseline；
Step 3, user is determined after interpolation baseline by step 2, and many redundancy ionosphere interpolation model MLIM and amendment are set up respectively Elevation to flow interpolation model RELIM；
Step 4, while user ionosphere and troposphere interpolation, using a pair of main interpolation bases of redundancy baseline and main interpolation baseline Line two to flow interpolation model RELIM carries out ionosphere respectively using many redundancy ionosphere interpolation model MLIM and amendment elevation Calculated with troposphere interpolation, the estimate and the difference of interpolated value of all satellites, are calculated each on relatively more main interpolation baseline two The weighting of epoch all satellites, is designated as ARMS；Then, utilized using redundancy baseline and the main interpolation baseline one of two pairs of main interpolation baseline MLIM and RELIM methods carry out ionosphere respectively and troposphere interpolation is calculated, the estimation of all satellites on relatively more main interpolation baseline one The difference of value and interpolated value, calculates the weighting of all satellites of each epoch, is designated as BRMS；According to ARMS and BRMS, using LIM Method carries out distance weighted, ionosphere Complete relation and troposphere Complete relation at calculating user.
3. many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network according to claim 1, it is special Levy and be：The method that ionosphere interpolation model MLIM and troposphere interpolation model RELIM are set up in the step 3：
Step 31, double difference ionosphere can be determined by following formula on network RTK baselines:；
Determine after double difference ionosphere delay, set up ionosphere interpolation model MLIM：
Δ ▿ I u , n = a 1 Δx u , n + a 2 Δy u , n - - - ( 2 )
A=[a1,a2]=(B1 TB1)-1B1 TL (3)
B 1 = Δx 1 , n Δy 1 , n Δx 2 , n Δy 2 , n . . . . . . Δx n - 1 , n Δy n - 1 , n - - - ( 4 )
L=[Δ I1,n ΔI2,n … ΔIn-1,n]T (5)
For double difference ionosphere, f on baseline1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency, λ1It is carrier wave φ1Ripple It is long, λ2It is carrier wave φ2Wavelength,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation, Represent φ1Upper double difference fuzziness,Represent φ2Upper double difference fuzziness, 1 ..., n represents reference station quantity, 1,2 ..., n-1 tables Show auxiliary reference station, n represents main reference station, and u represents rover station, a1、a2For linear interpolation coefficient, Δ x, Δ y represent auxiliary reference The plane coordinates stood between main reference station is poor, and Δ I represents baseline upper ionized layer length of delay；
Step 32, double difference troposphere can be determined by following formula on network RTK baselines：
Determine on every interpolation baseline after double difference troposphere, to set up troposphere interpolation model RELIM：
Δ ▿ T u , n = a 1 Δx u , n + a 2 Δy u , n + a 3 Δh u , n - - - ( 7 )
A=[a1,a2,a3]=(B2 TB2)-1B2 TL (8)
B 2 = Δx 1 , n Δy 1 , n Δh 1 , n Δx 2 , n Δy 2 , n Δh 2 , n . . . . . . . . . Δx n - 1 , n Δy n - 1 , n Δh 1 , n - - - ( 9 )
L=[Δ T1,n ΔT2,n … ΔTn-1,n]T (10)
In formula：For double difference tropospheric delay value, c represents the light velocity, f1Represent carrier wave φ1Frequency, f2Represent carrier wave φ2Frequency Rate,Represent double difference carrier wave φ1Observation,Represent double difference carrier wave φ2Observation,Represent φ1Upper double difference is obscured Degree,Represent φ2Upper double difference fuzziness, ρ is the geometric distance between satellite and receiver, and 1 ..., n represents reference station number Amount, 1,2 ..., n-1 represents auxiliary reference station, and n represents main reference station, and u represents rover station, a1、a2、a3For linear interpolation coefficient, Δ x, Δ y, Δ h represent that plane and elevation coordinate between auxiliary reference station and main reference station are poor；Δ T represents baseline higher troposphere Length of delay.
4. many redundant network RTK atmosphere errors interpolating methods based on Delaunay triangulation network according to claim 1, it is special Levy and be：In step 4, ionosphere and troposphere integrity monitoring Index Formula are as follows at user：
RIM=a1Δxu,n+a2Δyu,n (11)
A=[a1,a2]=(B1 TB1)-1B1 TL (12)
B 1 = Δx 1 , n Δy 1 , n Δx 2 , n Δy 2 , n - - - ( 13 )
L=[ARMS BRMS]T (14)
Every satellite determines power method：
P (z)=Cos2(z) (15)
In formula, RIM represents RTIRIM and RTTRIM, a1、a2Liang Ge extension stations are represented respectively for linear interpolation coefficient, 1,2, and n represents main Reference station, u represents rover station, and Δ x, Δ y represent that the plane coordinates between auxiliary reference station and main reference station is poor, and P (Z) represents every The weights of satellite, Z is elevation angle of the satellite on reference station.
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